Public Member Functions | Static Public Member Functions | Public Attributes | Private Attributes
mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID Class Reference

#include <VehicleAckermann_Drivetrain.h>

Inheritance diagram for mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID:
Inheritance graph
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List of all members.

Public Member Functions

virtual void control_step (const DynamicsAckermannDrivetrain::TControllerInput &ci, DynamicsAckermannDrivetrain::TControllerOutput &co)
 ControllerTwistFrontSteerPID (DynamicsAckermannDrivetrain &veh)
virtual void load_config (const rapidxml::xml_node< char > &node)
virtual bool setTwistCommand (const double vx, const double wz)
virtual void teleop_interface (const TeleopInput &in, TeleopOutput &out)

Static Public Member Functions

static const char * class_name ()

Public Attributes

double KD
 PID controller parameters.
double KI
double KP
double max_torque
 Maximum abs. value torque (for clamp) [Nm].
double setpoint_ang_speed
 desired velocities (m/s) and (rad/s)
double setpoint_lin_speed

Private Attributes

double m_dist_fWheels
PID_Controller m_PID
double m_r2f_L

Detailed Description

PID controller that controls the vehicle with front traction & steering from Twist commands

Definition at line 111 of file VehicleAckermann_Drivetrain.h.


Constructor & Destructor Documentation


Member Function Documentation

Directly set these values to tell the controller the desired setpoints

Definition at line 115 of file VehicleAckermann_Drivetrain.h.

Override to load class-specific options from the <controller> node

Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.

Definition at line 64 of file Vehicleackermann_Drivetrain_ControllerTwistFrontSteerPID.cpp.

virtual bool mvsim::DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::setTwistCommand ( const double  vx,
const double  wz 
) [inline, virtual]

Accept a Twist command.

Returns:
true if the controller supports this kind of commands, false otherwise

Reimplemented from mvsim::ControllerBaseInterface.

Definition at line 130 of file VehicleAckermann_Drivetrain.h.

This is to handle basic need of all the controllers.

Reimplemented from mvsim::ControllerBaseTempl< VEH_DYNAMICS >.

Definition at line 81 of file Vehicleackermann_Drivetrain_ControllerTwistFrontSteerPID.cpp.


Member Data Documentation

PID controller parameters.

Definition at line 126 of file VehicleAckermann_Drivetrain.h.

Definition at line 126 of file VehicleAckermann_Drivetrain.h.

Definition at line 126 of file VehicleAckermann_Drivetrain.h.

Definition at line 138 of file VehicleAckermann_Drivetrain.h.

Definition at line 139 of file VehicleAckermann_Drivetrain.h.

Definition at line 138 of file VehicleAckermann_Drivetrain.h.

Maximum abs. value torque (for clamp) [Nm].

Definition at line 127 of file VehicleAckermann_Drivetrain.h.

desired velocities (m/s) and (rad/s)

Definition at line 118 of file VehicleAckermann_Drivetrain.h.

Definition at line 118 of file VehicleAckermann_Drivetrain.h.


The documentation for this class was generated from the following files:


mvsim
Author(s):
autogenerated on Thu Jun 6 2019 22:08:35